public void CalcNav(DateTime now, bool bypassComm = false)
{
#region Primitives
if (rmc_received || bypassComm)
{
LAT.Val = lat;
LON.Val = lon;
SOG.Val = sog;
COG.Val = cog;
LAT.SetValid(now);
LON.SetValid(now);
SOG.SetValid(now);
COG.SetValid(now);
RMC_received_Timer.Start();
}
if (vhw_received || bypassComm)
{
SPD.Val = spd;
SPD.SetValid(now);
}
if (dpt_received || bypassComm)
{
DPT.Val = dpt;
DPT.SetValid(now);
}
if (mwv_received || bypassComm)
{
AWA.Val = awa;
AWS.Val = aws;
AWA.SetValid(now);
AWS.SetValid(now);
}
if (mtw_received || bypassComm)
{
TEMP.Val = temp;
TEMP.SetValid(now);
}
if (hdg_received || bypassComm)
{
double mv = Properties.Settings.Default.MagVar; //default
if (mvar2 != 0)
{
mv = mvar2; //From HDG
}
if (mvar1 != 0)
{
mv = mvar1; //From RMC
}
MVAR.Val = mv;
MVAR.SetValid(now);
if (bypassComm)
{
mv = 0; // heading from log file is "true heading" no need for correction
}
HDT.Val = hdg + mv;
HDT.SetValid(now);
}
#endregion
#region Position, Leg bearing, distance, XTE and VMG
if (LAT.IsValid() && LON.IsValid())
{
POS.Val.Latitude = LAT.Val;
POS.Val.Longitude = LON.Val;
POS.SetValid(now);
}
else
{
POS.Invalidate();
}
if (ActiveLeg != null)
{
LWLAT.Val = ActiveLeg.FromLocation.Latitude;
LWLAT.SetValid(now);
LWLON.Val = ActiveLeg.FromLocation.Longitude;
LWLON.SetValid(now);
LWPT.Val.str = ActiveLeg.FromMark.Name;
LWPT.SetValid(now);
}
else
{
LWLAT.Invalidate();
LWLON.Invalidate();
LWPT.Invalidate();
}
if (!bypassComm || replayLog)
{
if (ActiveMark != null && POS.IsValid())
{
WLAT.Val = ActiveMark.Location.Latitude;
WLAT.SetValid(now);
WLON.Val = ActiveMark.Location.Longitude;
WLON.SetValid(now);
WPT.Val.str = ActiveMark.Name;
WPT.SetValid(now);
BRG.Val = CalcBearing(LAT.Val, LON.Val, WLAT.Val, WLON.Val);
BRG.SetValid(now);
DST.Val = CalcDistance(LAT.Val, LON.Val, WLAT.Val, WLON.Val) / 1852;
DST.SetValid(now);
}
else
{
WLAT.Invalidate();
WLON.Invalidate();
WPT.Invalidate();
BRG.IsValid();
DST.IsValid();
}
}
if (WPT.IsValid() && LWPT.IsValid())
{
LEGBRG.Val = CalcBearing(LWLAT.Val, LWLON.Val, WLAT.Val, WLON.Val);
LEGBRG.SetValid(now);
}
else
{
if (LEGBRG.IsValid())
{
LEGBRG.Invalidate();
}
}
if (LWPT.IsValid())
{
XTE.Val = Math.Asin(Math.Sin(DST.Val * 1.852 / 6371) * Math.Sin((BRG.Val - LEGBRG.Val) * Math.PI / 180)) * 6371 / 1.852;
XTE.SetValid(now);
}
else
if (XTE.IsValid())
{
XTE.Invalidate();
}
if (SOG.IsValid() && BRG.IsValid())
{
VMGWPT.Val = SOG.Val * Math.Cos((COG.Val - BRG.Val) * Math.PI / 180);
VMGWPT.SetValid(now);
}
else
{
if (VMGWPT.IsValid())
{
VMGWPT.Invalidate();
}
}
#endregion
#region True Wind
if (AWA.IsValid() && SPD.IsValid())
{
double Dx = AWS.Val * Math.Cos(AWA.Val * Math.PI / 180) - SPD.Val;
double Dy = AWS.Val * Math.Sin(AWA.Val * Math.PI / 180);
TWS.Val = Math.Sqrt(Dx * Dx + Dy * Dy);
TWS.SetValid(now);
TWA.Val = Math.Atan2(Dy, Dx) * 180 / Math.PI;
TWA.SetValid(now);
VMG.Val = SPD.Val * Math.Cos(TWA.Val * Math.PI / 180);
VMG.SetValid(now);
}
else
{
if (TWS.IsValid())
{
TWS.Invalidate();
}
if (TWA.IsValid())
{
TWA.Invalidate();
}
if (VMG.IsValid())
{
VMG.Invalidate();
}
}
if (TWS.IsValid() && HDT.IsValid())
{
TWD.Val = HDT.Val + TWA.Val;
TWD.SetValid(now);
}
else
{
if (TWD.IsValid())
{
TWD.Invalidate();
}
}
#endregion
#region Heel
//if (AWA.IsValid() && SPD.IsValid())
//{
// double k = 7,
// a = 2,
// b = 200,
// c = 1.5;
// var awa = Math.Abs(AWA.Val);
// var aws = AWS.Val;
// HEEL.Val = k * awa * Math.Pow(aws, c) / (Math.Pow(awa, a) + b);
// if (HEEL.Val > 45) HEEL.Val = 45;
// HEEL.SetValid(now);
//}
//else
//{
// if (HEEL.IsValid())
// HEEL.Invalidate();
//}
#endregion
#region Drift
if (SOG.IsValid() && COG.IsValid() && HDT.IsValid())
{
double Dx = SOG.Val * Math.Cos(COG.Val * Math.PI / 180) - SPD.Val * Math.Cos(HDT.Val * Math.PI / 180);
double Dy = SOG.Val * Math.Sin(COG.Val * Math.PI / 180) - SPD.Val * Math.Sin(HDT.Val * Math.PI / 180);
DRIFT.Val = Math.Sqrt(Dx * Dx + Dy * Dy);
DRIFT.SetValid(now);
SET.Val = Math.Atan2(Dy, Dx) * 180 / Math.PI;
SET.SetValid(now);
}
else
{
if (DRIFT.IsValid())
{
DRIFT.Invalidate();
}
if (SET.IsValid())
{
SET.Invalidate();
}
}
#endregion
#region Performance
if (BRG.IsValid() && TWD.IsValid() && SPD.IsValid() && NavPolar.IsLoaded)
{
double Angle = Math.Abs((TWD.Val - BRG.Val) % 360);
if (Angle > 180)
{
Angle = 360 - Angle;
}
PolarPoint pb = NavPolar.GetBeatTarget(TWS.Average(Inst.BufHalfMin));
PolarPoint pr = NavPolar.GetRunTarget(TWS.Average(Inst.BufHalfMin));
if (Math.Abs(Angle) <= pb.TWA) // Beating
{
TGTSPD.Val = pb.SPD;
TGTSPD.SetValid(now);
TGTTWA.Val = pb.TWA;
TGTTWA.SetValid(now);
PERF.Val = VMG.Val / (pb.SPD * Math.Cos(pb.TWA * Math.PI / 180));
PERF.SetValid(now);
sailingMode = SailingMode.Beating;
}
if (Math.Abs(Angle) < pr.TWA && Math.Abs(Angle) > pb.TWA) // Reaching
{
TGTSPD.Val = NavPolar.GetTarget(Math.Abs(TWA.Average(Inst.BufHalfMin)), TWS.Average(Inst.BufHalfMin));
TGTSPD.SetValid(now);
TGTTWA.Val = Math.Abs(TWA.Val);
TGTTWA.SetValid(now);
PERF.Val = SPD.Val / TGTSPD.Val;
if (VMGWPT.Val < 0)
{
PERF.Val = -PERF.Val;
}
PERF.SetValid(now);
sailingMode = SailingMode.Reaching;
}
if (Math.Abs(Angle) >= pr.TWA) // Running
{
TGTSPD.Val = pr.SPD;
TGTSPD.SetValid(now);
TGTTWA.Val = pr.TWA;
TGTTWA.SetValid(now);
PERF.Val = VMG.Val / (pr.SPD * Math.Cos(pr.TWA * Math.PI / 180));
PERF.SetValid(now);
sailingMode = SailingMode.Running;
}
}
else
{
if (TGTSPD.IsValid())
{
TGTSPD.Invalidate();
}
if (TGTTWA.IsValid())
{
TGTTWA.Invalidate();
}
if (PERF.IsValid())
{
PERF.Invalidate();
}
sailingMode = SailingMode.None;
}
#endregion
#region Line
if (p1_set && p2_set && LAT.IsValid() && HDT.IsValid())
{
double p3_lat = LAT.Val, p3_lon = LON.Val;
if (Properties.Settings.Default.GPSoffsetToBow != 0)
{
CalcPosition(LAT.Val, LON.Val, Properties.Settings.Default.GPSoffsetToBow, HDT.Val, ref p3_lat, ref p3_lon);
}
double brg32 = CalcBearing(p3_lat, p3_lon, p2_lat, p2_lon);
double dst32 = CalcDistance(p3_lat, p3_lon, p2_lat, p2_lon);
LINEDST.Val = dst32 * Math.Sin((linebrg - brg32) * Math.PI / 180);
LINEDST.SetValid(now);
}
else
{
if (LINEDST.IsValid())
{
LINEDST.Invalidate();
}
}
#endregion
#region Route nav
if (!bypassComm)
{
if (ActiveMark != null && DST.IsValid() && !ManOverBoard)
{
if (DST.Val <= Properties.Settings.Default.WptProximity)
{
(new SoundPlayer(@".\Sounds\BELL7.WAV")).PlaySync();
if (ActiveLeg != null)
{
if (ActiveLeg.NextLeg != null)
{
ActiveLeg = ActiveLeg.NextLeg;
ActiveMark = ActiveLeg.ToMark;
}
else
{
ActiveMark = null;
ActiveLeg = null;
ActiveRoute = null;
}
}
else
{
ActiveMark = null;
}
}
}
}
if (ActiveRoute != null)
{
if (ActiveLeg.NextLeg != null && TWD.IsValid())
{
NTWA.Val = TWD.Average(Inst.BufTwoMin) - ActiveLeg.NextLeg.Bearing;
NTWA.SetValid();
}
else
{
NTWA.Invalidate();
}
}
#endregion
#region Laylines
//if (DRIFT.IsValid() && PERF.IsValid() && TWD.IsValid())
//{
// double relset = SET.Average(Inst.BufTenMin) - TWD.Average(Inst.BufHalfMin);
// double dxs = TGTSPD.Average(Inst.BufHalfMin) * Math.Cos(TGTTWA.Average(Inst.BufHalfMin) * Math.PI / 180) + DRIFT.Average(Inst.BufTenMin) * Math.Cos(relset * Math.PI / 180);
// double dys = TGTSPD.Average(Inst.BufHalfMin) * Math.Sin(TGTTWA.Average(Inst.BufHalfMin) * Math.PI / 180) + DRIFT.Average(Inst.BufTenMin) * Math.Sin(relset * Math.PI / 180);
// TGTCOGs.Val = Math.Atan2(dys, dxs) * 180 / Math.PI + TWD.Average(Inst.BufHalfMin);
// TGTCOGs.SetValid(now);
// TGTSOGs.Val = Math.Sqrt(dxs * dxs + dys * dys);
// TGTSOGs.SetValid(now);
// double dxp = TGTSPD.Average(Inst.BufHalfMin) * Math.Cos(-TGTTWA.Average(Inst.BufHalfMin) * Math.PI / 180) + DRIFT.Average(Inst.BufTenMin) * Math.Cos(relset * Math.PI / 180);
// double dyp = TGTSPD.Average(Inst.BufHalfMin) * Math.Sin(-TGTTWA.Average(Inst.BufHalfMin) * Math.PI / 180) + DRIFT.Average(Inst.BufTenMin) * Math.Sin(relset * Math.PI / 180);
// TGTCOGp.Val = Math.Atan2(dyp, dxp) * 180 / Math.PI + TWD.Average(Inst.BufHalfMin);
// TGTCOGp.SetValid(now);
// TGTSOGp.Val = Math.Sqrt(dxp * dxp + dyp * dyp);
// TGTSOGp.SetValid(now);
//}
//else
//{
// if (TGTCOGs.IsValid())
// TGTCOGs.Invalidate();
// if (TGTSOGs.IsValid())
// TGTSOGs.Invalidate();
// if (TGTCOGp.IsValid())
// TGTCOGp.Invalidate();
// if (TGTSOGp.IsValid())
// TGTSOGp.Invalidate();
//}
#endregion
}
public void SendNMEA()
{
string message;
// Build HDG Sentence ****************************************************************************************
if (HDT.IsValid()) // Implies MVAR is valid too
{
string mv;
if (MVAR.Val > 0)
{
mv = "E";
}
else
{
mv = "W";
}
double hdg = (HDT.Val - MVAR.Val + 360) % 360;
message = "IIHDG," + hdg.ToString("0.#") + ",,," + Math.Abs(MVAR.Val).ToString("0.#") + "," + mv;
int checksum = 0;
foreach (char c in message)
{
checksum ^= Convert.ToByte(c);
}
message = "$" + message + "*" + checksum.ToString("X2") + "\r\n";
if (Properties.Settings.Default.HeadingSentence.OutPort1)
{
if (SerialPort1.IsOpen)
{
SerialPort1.WriteLine(message);
}
}
if (Properties.Settings.Default.HeadingSentence.OutPort2)
{
if (SerialPort2.IsOpen)
{
SerialPort2.WriteLine(message);
}
}
if (Properties.Settings.Default.HeadingSentence.OutPort3)
{
if (SerialPort3.IsOpen)
{
SerialPort3.WriteLine(message);
}
}
if (Properties.Settings.Default.HeadingSentence.OutPort4)
{
if (SerialPort4.IsOpen)
{
SerialPort4.WriteLine(message);
}
}
}
// Build MWV Sentence ****************************************************************************************
if (AWA.IsValid())
{
message = "IIMWV," + ((AWA.Val + 360) % 360).ToString("0") + ",R," + AWS.Val.ToString("0.#") + ",N,A";
int checksum = 0;
foreach (char c in message)
{
checksum ^= Convert.ToByte(c);
}
message = "$" + message + "*" + checksum.ToString("X2") + "\r\n";
if (Properties.Settings.Default.AppWindSentence.OutPort1)
{
if (SerialPort1.IsOpen)
{
SerialPort1.WriteLine(message);
}
}
if (Properties.Settings.Default.AppWindSentence.OutPort2)
{
if (SerialPort2.IsOpen)
{
SerialPort2.WriteLine(message);
}
}
if (Properties.Settings.Default.AppWindSentence.OutPort3)
{
if (SerialPort3.IsOpen)
{
SerialPort3.WriteLine(message);
}
}
if (Properties.Settings.Default.AppWindSentence.OutPort4)
{
if (SerialPort4.IsOpen)
{
SerialPort4.WriteLine(message);
}
}
}
// Build VHW Sentence ****************************************************************************************
if (SPD.IsValid())
{
string hdg;
if (HDT.IsValid())
{
hdg = HDT.Val.ToString("0") + ",T,,M,";
}
else
{
hdg = ",T,,M,";
}
message = "IIVHW," + hdg + SPD.Val.ToString("0.##") + ",N,,K";
int checksum = 0;
foreach (char c in message)
{
checksum ^= Convert.ToByte(c);
}
message = "$" + message + "*" + checksum.ToString("X2") + "\r\n";
if (Properties.Settings.Default.HullSpeedSentence.OutPort1)
{
if (SerialPort1.IsOpen)
{
SerialPort1.WriteLine(message);
}
}
if (Properties.Settings.Default.HullSpeedSentence.OutPort2)
{
if (SerialPort2.IsOpen)
{
SerialPort2.WriteLine(message);
}
}
if (Properties.Settings.Default.HullSpeedSentence.OutPort3)
{
if (SerialPort3.IsOpen)
{
SerialPort3.WriteLine(message);
}
}
if (Properties.Settings.Default.HullSpeedSentence.OutPort4)
{
if (SerialPort4.IsOpen)
{
SerialPort4.WriteLine(message);
}
}
}
// Build DPT Sentence ****************************************************************************************
if (DPT.IsValid())
{
message = "IIDPT," + DPT.Val.ToString("0.#") + ",0";
int checksum = 0;
foreach (char c in message)
{
checksum ^= Convert.ToByte(c);
}
message = "$" + message + "*" + checksum.ToString("X2") + "\r\n";
if (Properties.Settings.Default.DepthSentence.OutPort1)
{
if (SerialPort1.IsOpen)
{
SerialPort1.WriteLine(message);
}
}
if (Properties.Settings.Default.DepthSentence.OutPort2)
{
if (SerialPort2.IsOpen)
{
SerialPort2.WriteLine(message);
}
}
if (Properties.Settings.Default.DepthSentence.OutPort3)
{
if (SerialPort3.IsOpen)
{
SerialPort3.WriteLine(message);
}
}
if (Properties.Settings.Default.DepthSentence.OutPort4)
{
if (SerialPort4.IsOpen)
{
SerialPort4.WriteLine(message);
}
}
}
// Build RMC Sentence ****************************************************************************************
if (COG.IsValid()) // Implies SOG, LAT and LON are also valid
{
DateTime UTC = DateTime.UtcNow;
string hms = UTC.Hour.ToString("00") + UTC.Minute.ToString("00") + UTC.Second.ToString("00");
string date = UTC.Date.Day.ToString("00") + UTC.Date.Month.ToString("00") + UTC.Date.Year.ToString().Substring(2, 2);
double deg, min;
string cd;
deg = Math.Abs(Math.Truncate(LAT.Val));
min = (Math.Abs(LAT.Val) - deg) * 60;
if (LAT.Val > 0)
{
cd = "N";
}
else
{
cd = "S";
}
string lat = deg.ToString("000") + min.ToString("00.###") + "," + cd;
deg = Math.Abs(Math.Truncate(LON.Val));
min = (Math.Abs(LON.Val) - deg) * 60;
if (LON.Val > 0)
{
cd = "E";
}
else
{
cd = "W";
}
string lon = deg.ToString("000") + min.ToString("00.###") + "," + cd;
if (MVAR.Val > 0)
{
cd = "E";
}
else
{
cd = "W";
}
double cog = (COG.Val + 360) % 360;
message = "IIRMC," + hms + ",A," + lat + "," + lon + "," + SOG.Val.ToString("#.##") + "," + cog.ToString("0.#") + ","
+ date + "," + Math.Abs(MVAR.Val).ToString("0.#") + "," + cd + ",A";
int checksum = 0;
foreach (char c in message)
{
checksum ^= Convert.ToByte(c);
}
message = "$" + message + "*" + checksum.ToString("X2") + "\r\n";
if (Properties.Settings.Default.NavSentence.OutPort1)
{
if (SerialPort1.IsOpen)
{
SerialPort1.WriteLine(message);
}
}
if (Properties.Settings.Default.NavSentence.OutPort2)
{
if (SerialPort2.IsOpen)
{
SerialPort2.WriteLine(message);
}
}
if (Properties.Settings.Default.NavSentence.OutPort3)
{
if (SerialPort3.IsOpen)
{
SerialPort3.WriteLine(message);
}
}
if (Properties.Settings.Default.NavSentence.OutPort4)
{
if (SerialPort4.IsOpen)
{
SerialPort4.WriteLine(message);
}
}
}
// Build RMB Sentence ****************************************************************************************
if (WPT.IsValid()) // Implies BRG and DST are also valid
{
string xte = ",,";
string owpt = ",";
if (XTE.IsValid())
{
if (XTE.Val > 0)
{
xte = XTE.Val.ToString("0.##") + ",R,";
}
else
{
xte = Math.Abs(XTE.Val).ToString("0.##") + ",L,";
}
owpt = LWPT.FormattedValue + ",";
}
double brg = (BRG.Val + 360) % 360;
message = "IIRMB,A," + xte + owpt + WPT.FormattedValue + ",,,,," + DST.Val.ToString("0.##") + "," + brg.ToString("0.#")
+ "," + VMGWPT.Val.ToString("0.##") + ",,A";
int checksum = 0;
foreach (char c in message)
{
checksum ^= Convert.ToByte(c);
}
message = "$" + message + "*" + checksum.ToString("X2") + "\r\n";
if (Properties.Settings.Default.RouteSentence.OutPort1)
{
if (SerialPort1.IsOpen)
{
SerialPort1.WriteLine(message);
}
}
if (Properties.Settings.Default.RouteSentence.OutPort2)
{
if (SerialPort2.IsOpen)
{
SerialPort2.WriteLine(message);
}
}
if (Properties.Settings.Default.RouteSentence.OutPort3)
{
if (SerialPort3.IsOpen)
{
SerialPort3.WriteLine(message);
}
}
if (Properties.Settings.Default.RouteSentence.OutPort4)
{
if (SerialPort4.IsOpen)
{
SerialPort4.WriteLine(message);
}
}
}
// Build MTW Sentence ****************************************************************************************
if (TEMP.IsValid())
{
message = "IIMTW," + TEMP.Val.ToString("0.#") + ",C";
int checksum = 0;
foreach (char c in message)
{
checksum ^= Convert.ToByte(c);
}
message = "$" + message + "*" + checksum.ToString("X2") + "\r\n";
if (Properties.Settings.Default.WaterTempSentence.OutPort1)
{
if (SerialPort1.IsOpen)
{
SerialPort1.WriteLine(message);
}
}
if (Properties.Settings.Default.WaterTempSentence.OutPort2)
{
if (SerialPort2.IsOpen)
{
SerialPort2.WriteLine(message);
}
}
if (Properties.Settings.Default.WaterTempSentence.OutPort3)
{
if (SerialPort3.IsOpen)
{
SerialPort3.WriteLine(message);
}
}
if (Properties.Settings.Default.WaterTempSentence.OutPort4)
{
if (SerialPort4.IsOpen)
{
SerialPort4.WriteLine(message);
}
}
}
// Build PTAK4 Sentence ****************************************************************************************
if (LINEDST.IsValid())
{
string message4;
message4 = "PTAK,FFD4," + LINEDST.Val.ToString("0");
int checksum = 0;
foreach (char c in message4)
{
checksum ^= Convert.ToByte(c);
}
message4 = "$" + message4 + "*" + checksum.ToString("X2") + "\r\n";
if (Properties.Settings.Default.TacktickPerformanceSentence.OutPort1)
{
if (SerialPort1.IsOpen)
{
SerialPort1.WriteLine(message4);
}
}
if (Properties.Settings.Default.TacktickPerformanceSentence.OutPort2)
{
if (SerialPort2.IsOpen)
{
SerialPort2.WriteLine(message4);
}
}
if (Properties.Settings.Default.TacktickPerformanceSentence.OutPort3)
{
if (SerialPort3.IsOpen)
{
SerialPort3.WriteLine(message4);
}
}
if (Properties.Settings.Default.TacktickPerformanceSentence.OutPort4)
{
if (SerialPort4.IsOpen)
{
SerialPort4.WriteLine(message4);
}
}
}
}
public void BuildNMEASentences()
{
string message;
// #CommRework - All primitive NMEA sentences are relayed inmeditely
//// Build HDG Sentence ****************************************************************************************
//if (HDT.IsValid()) // Implies MVAR is valid too
//{
// string mv;
// if (MVAR.Val > 0)
// mv = "E";
// else
// mv = "W";
// double hdg = (HDT.Val - MVAR.Val + 360) % 360;
// message = "IIHDG," + hdg.ToString("0.#") + ",,," + Math.Abs(MVAR.Val).ToString("0.#") + "," + mv;
// int checksum = 0;
// foreach (char c in message)
// checksum ^= Convert.ToByte(c);
// message = "$" + message + "*" + checksum.ToString("X2") + "\r\n";
// if (Properties.Settings.Default.HeadingSentence.OutPort1)
// if (SerialPort1.IsOpen)
// WriteSerial(1,message);
// if (Properties.Settings.Default.HeadingSentence.OutPort2)
// if (SerialPort2.IsOpen)
// WriteSerial(2,message);
// if (Properties.Settings.Default.HeadingSentence.OutPort3)
// if (SerialPort3.IsOpen)
// WriteSerial(3,message);
// if (Properties.Settings.Default.HeadingSentence.OutPort4)
// if (SerialPort4.IsOpen)
// WriteSerial(4,message);
//}
//// Build MWV Sentence ****************************************************************************************
//if (AWA.IsValid())
//{
// message = "IIMWV," + ((AWA.Val+360)%360).ToString("0") + ",R," + AWS.Val.ToString("0.#") + ",N,A";
// int checksum = 0;
// foreach (char c in message)
// checksum ^= Convert.ToByte(c);
// message = "$" + message + "*" + checksum.ToString("X2") + "\r\n";
// if (Properties.Settings.Default.AppWindSentence.OutPort1)
// if(SerialPort1.IsOpen)
// WriteSerial(1,message);
// if (Properties.Settings.Default.AppWindSentence.OutPort2)
// if (SerialPort2.IsOpen)
// WriteSerial(2,message);
// if (Properties.Settings.Default.AppWindSentence.OutPort3)
// if (SerialPort3.IsOpen)
// WriteSerial(3,message);
// if (Properties.Settings.Default.AppWindSentence.OutPort4)
// if (SerialPort4.IsOpen)
// WriteSerial(4,message);
//}
//// Build VHW Sentence ****************************************************************************************
//if (SPD.IsValid())
//{
// string hdg;
// if (HDT.IsValid())
// hdg = HDT.Val.ToString("0") + ",T,,M,";
// else
// hdg = ",T,,M,";
// message = "IIVHW," + hdg + SPD.Val.ToString("0.##") + ",N,,K";
// int checksum = 0;
// foreach (char c in message)
// checksum ^= Convert.ToByte(c);
// message = "$" + message + "*" + checksum.ToString("X2") + "\r\n";
// if (Properties.Settings.Default.HullSpeedSentence.OutPort1)
// if (SerialPort1.IsOpen)
// WriteSerial(1,message);
// if (Properties.Settings.Default.HullSpeedSentence.OutPort2)
// if (SerialPort2.IsOpen)
// WriteSerial(2,message);
// if (Properties.Settings.Default.HullSpeedSentence.OutPort3)
// if (SerialPort3.IsOpen)
// WriteSerial(3,message);
// if (Properties.Settings.Default.HullSpeedSentence.OutPort4)
// if (SerialPort4.IsOpen)
// WriteSerial(4,message);
//}
//// Build DPT Sentence ****************************************************************************************
//if (DPT.IsValid())
//{
// message = "IIDPT,"+DPT.Val.ToString("0.#")+",0";
// //message = "IIDPT,25.4,0";
// int checksum = 0;
// foreach (char c in message)
// checksum ^= Convert.ToByte(c);
// message = "$" + message + "*" + checksum.ToString("X2") + "\r\n";
// if (Properties.Settings.Default.DepthSentence.OutPort1)
// if (SerialPort1.IsOpen)
// WriteSerial(1,message);
// if (Properties.Settings.Default.DepthSentence.OutPort2)
// if (SerialPort2.IsOpen)
// WriteSerial(2,message);
// if (Properties.Settings.Default.DepthSentence.OutPort3)
// if (SerialPort3.IsOpen)
// WriteSerial(3,message);
// if (Properties.Settings.Default.DepthSentence.OutPort4)
// if (SerialPort4.IsOpen)
// WriteSerial(4,message);
//}
//// Build RMC Sentence ****************************************************************************************
//if (COG.IsValid()) // Implies SOG, LAT and LON are also valid
//{
// DateTime UTC = DateTime.UtcNow;
// string hms = UTC.Hour.ToString("00") + UTC.Minute.ToString("00") + UTC.Second.ToString("00");
// string date = UTC.Date.Day.ToString("00") + UTC.Date.Month.ToString("00") + UTC.Date.Year.ToString().Substring(2, 2);
// double deg, min;
// string cd;
// deg = Math.Abs(Math.Truncate(LAT.Val));
// min = (Math.Abs(LAT.Val) - deg) * 60;
// if (LAT.Val > 0)
// cd = "N";
// else
// cd = "S";
// string lat = deg.ToString("#")+min.ToString("00.####")+","+cd;
// deg = Math.Abs(Math.Truncate(LON.Val));
// min = (Math.Abs(LON.Val) - deg) * 60;
// if (LON.Val > 0)
// cd = "E";
// else
// cd = "W";
// string lon = deg.ToString("#")+min.ToString("00.####")+","+cd;
// if (MVAR.Val > 0)
// cd = "E";
// else
// cd = "W";
// double cog = (COG.Val + 360) % 360;
// message = "IIRMC," + hms + ",A," + lat + "," + lon + "," + SOG.Val.ToString("#.##") + "," + cog.ToString("0.#") + ","
// + date + "," + Math.Abs(MVAR.Val).ToString("0.#") + "," + cd + ",A";
// int checksum = 0;
// foreach (char c in message)
// checksum ^= Convert.ToByte(c);
// message = "$" + message + "*" + checksum.ToString("X2") + "\r\n";
// //message = "$GPRMC,173933,A,3430.6759,S,05828.3633,W,000.1,173.3,291220,008.1,W*68\r\n";
// if (Properties.Settings.Default.NavSentence.OutPort1)
// if (SerialPort1.IsOpen)
// WriteSerial(1,message);
// if (Properties.Settings.Default.NavSentence.OutPort2)
// if (SerialPort2.IsOpen)
// WriteSerial(2,message);
// if (Properties.Settings.Default.NavSentence.OutPort3)
// if (SerialPort3.IsOpen)
// WriteSerial(3,message);
// if (Properties.Settings.Default.NavSentence.OutPort4)
// if (SerialPort4.IsOpen)
// WriteSerial(4,message);
//}
//// Build MTW Sentence ****************************************************************************************
//if (TEMP.IsValid())
//{
// message = "IIMTW," + TEMP.Val.ToString("0.#") + ",C";
// int checksum = 0;
// foreach (char c in message)
// checksum ^= Convert.ToByte(c);
// message = "$" + message + "*" + checksum.ToString("X2") + "\r\n";
// if (Properties.Settings.Default.WaterTempSentence.OutPort1)
// if (SerialPort1.IsOpen)
// WriteSerial(1,message);
// if (Properties.Settings.Default.WaterTempSentence.OutPort2)
// if (SerialPort2.IsOpen)
// WriteSerial(2,message);
// if (Properties.Settings.Default.WaterTempSentence.OutPort3)
// if (SerialPort3.IsOpen)
// WriteSerial(3,message);
// if (Properties.Settings.Default.WaterTempSentence.OutPort4)
// if (SerialPort4.IsOpen)
// WriteSerial(4,message);
//}
// Build RMB Sentence ****************************************************************************************
if (WPT.IsValid()) // Implies BRG and DST are also valid
{
string xte = ",,";
string owpt = ",";
if (XTE.IsValid())
{
if (XTE.Val > 0)
{
xte = XTE.Val.ToString("0.##") + ",R,";
}
else
{
xte = Math.Abs(XTE.Val).ToString("0.##") + ",L,";
}
owpt = LWPT.FormattedValue + ",";
}
double brg = (BRG.Val + 360) % 360;
message = "IIRMB,A," + xte + owpt + WPT.FormattedValue + ",,,,," + DST.Val.ToString("0.##") + "," + brg.ToString("0.#")
+ "," + VMGWPT.Val.ToString("0.##") + ",,A";
int checksum = 0;
foreach (char c in message)
{
checksum ^= Convert.ToByte(c);
}
message = "$" + message + "*" + checksum.ToString("X2") + "\r\n";
rmb_sentence = message;
rmb_sentence_available = true;
}
// Build PTAK4 Sentence ****************************************************************************************
if (LINEDST.IsValid())
{
string message4;
message4 = "PTAK,FFD4," + LINEDST.Val.ToString("0");
int checksum = 0;
foreach (char c in message4)
{
checksum ^= Convert.ToByte(c);
}
message4 = "$" + message4 + "*" + checksum.ToString("X2") + "\r\n";
if (Properties.Settings.Default.TacktickPerformanceSentence.OutPort1)
{
if (SerialPort1.IsOpen)
{
SerialPort1.WriteLine(message4);
}
}
if (Properties.Settings.Default.TacktickPerformanceSentence.OutPort2)
{
if (SerialPort2.IsOpen)
{
SerialPort2.WriteLine(message4);
}
}
if (Properties.Settings.Default.TacktickPerformanceSentence.OutPort3)
{
if (SerialPort3.IsOpen)
{
SerialPort3.WriteLine(message4);
}
}
if (Properties.Settings.Default.TacktickPerformanceSentence.OutPort4)
{
if (SerialPort4.IsOpen)
{
SerialPort4.WriteLine(message4);
}
}
}
}
public void CalcNav(DateTime now, bool bypassComm = false)
{
sailingMode = SailingMode.None;
#region Primitives
if (rmc_received || bypassComm)
{
LAT.Val = lat;
LON.Val = lon;
SOG.Val = sog;
COG.Val = cog;
LAT.SetValid(now);
LON.SetValid(now);
SOG.SetValid(now);
COG.SetValid(now);
RMC_received_Timer.Start();
}
if (vhw_received || bypassComm)
{
SPD.Val = spd;
SPD.SetValid(now);
}
if (dpt_received || bypassComm)
{
DPT.Val = dpt;
DPT.SetValid(now);
}
if (mwv_received || bypassComm)
{
AWA.Val = awa;
AWS.Val = aws;
AWA.SetValid(now);
AWS.SetValid(now);
}
if (mtw_received || bypassComm)
{
TEMP.Val = temp;
TEMP.SetValid(now);
}
if (hdg_received || bypassComm)
{
double mv = Properties.Settings.Default.MagVar; //default
if (mvar2 != 0)
{
mv = mvar2; //From HDG
}
if (mvar1 != 0)
{
mv = mvar1; //From RMC
}
MVAR.Val = mv;
MVAR.SetValid(now);
if (bypassComm)
{
mv = 0; // heading from log file is "true heading" no need for correction
}
HDT.Val = hdg + mv;
HDT.SetValid(now);
}
#endregion
#region Position, Leg bearing, distance, XTE and VMG
if (LAT.IsValid() && LON.IsValid())
{
POS.Val.Latitude = LAT.Val;
POS.Val.Longitude = LON.Val;
POS.SetValid(now);
}
else
{
POS.Invalidate();
}
if (ActiveLeg != null)
{
LWLAT.Val = ActiveLeg.FromLocation.Latitude;
LWLAT.SetValid(now);
LWLON.Val = ActiveLeg.FromLocation.Longitude;
LWLON.SetValid(now);
LWPT.Val.str = ActiveLeg.FromMark.Name;
LWPT.SetValid(now);
}
else
{
LWLAT.Invalidate();
LWLON.Invalidate();
LWPT.Invalidate();
}
if (!bypassComm || replayLog)
{
if (ActiveMark != null && POS.IsValid())
{
WLAT.Val = ActiveMark.Location.Latitude;
WLAT.SetValid(now);
WLON.Val = ActiveMark.Location.Longitude;
WLON.SetValid(now);
WPT.Val.str = ActiveMark.Name;
WPT.SetValid(now);
BRG.Val = CalcBearing(LAT.Val, LON.Val, WLAT.Val, WLON.Val);
BRG.SetValid(now);
DST.Val = CalcDistance(LAT.Val, LON.Val, WLAT.Val, WLON.Val) / 1852;
DST.SetValid(now);
}
else
{
WLAT.Invalidate();
WLON.Invalidate();
WPT.Invalidate();
BRG.Invalidate();
DST.Invalidate();
}
}
if (WPT.IsValid() && LWPT.IsValid())
{
LEGBRG.Val = CalcBearing(LWLAT.Val, LWLON.Val, WLAT.Val, WLON.Val);
LEGBRG.SetValid(now);
}
else
{
if (LEGBRG.IsValid())
{
LEGBRG.Invalidate();
}
}
if (LWPT.IsValid())
{
XTE.Val = Math.Asin(Math.Sin(DST.Val * 1.852 / 6371) * Math.Sin((BRG.Val - LEGBRG.Val) * Math.PI / 180)) * 6371 / 1.852;
XTE.SetValid(now);
}
else
if (XTE.IsValid())
{
XTE.Invalidate();
}
if (SOG.IsValid() && BRG.IsValid() && WPT.IsValid())
{
VMGWPT.Val = SOG.Val * Math.Cos((COG.Val - BRG.Val) * Math.PI / 180);
VMGWPT.SetValid(now);
}
else
{
if (VMGWPT.IsValid())
{
VMGWPT.Invalidate();
}
}
#endregion
#region True Wind
if (AWA.IsValid() && SPD.IsValid())
{
double Dx = AWS.Val * Math.Cos(AWA.Val * Math.PI / 180) - SPD.Val;
double Dy = AWS.Val * Math.Sin(AWA.Val * Math.PI / 180);
TWS.Val = Math.Sqrt(Dx * Dx + Dy * Dy);
TWS.SetValid(now);
TWA.Val = Math.Atan2(Dy, Dx) * 180 / Math.PI;
TWA.SetValid(now);
VMG.Val = SPD.Val * Math.Cos(TWA.Val * Math.PI / 180);
VMG.SetValid(now);
//Set estimated saling mode in case route and/or performance data is not available
if (Math.Abs(TWA.Val) < 55)
{
sailingMode = SailingMode.Beating;
}
else
if (Math.Abs(TWA.Val) > 130)
{
sailingMode = SailingMode.Running;
}
else
{
sailingMode = SailingMode.Reaching;
}
}
else
{
if (TWS.IsValid())
{
TWS.Invalidate();
}
if (TWA.IsValid())
{
TWA.Invalidate();
}
if (VMG.IsValid())
{
VMG.Invalidate();
}
}
if (TWS.IsValid() && HDT.IsValid())
{
TWD.Val = HDT.Val + TWA.Val;
TWD.SetValid(now);
}
else
{
if (TWD.IsValid())
{
TWD.Invalidate();
}
}
#endregion
#region Leeway
if (AWA.IsValid() && SPD.IsValid() && LWay.IsAvailable() && Properties.Settings.Default.EstimateLeeway)
{
LWY.Val = LWay.Get(AWA.Val, AWS.Val, SPD.Val);
LWY.SetValid(now);
}
#endregion
#region Heel
//if (AWA.IsValid() && SPD.IsValid())
//{
// double k = 7,
// a = 2,
// b = 200,
// c = 1.5;
// var awa = Math.Abs(AWA.Val);
// var aws = AWS.Val;
// HEEL.Val = k * awa * Math.Pow(aws, c) / (Math.Pow(awa, a) + b);
// if (HEEL.Val > 45) HEEL.Val = 45;
// HEEL.SetValid(now);
//}
//else
//{
// if (HEEL.IsValid())
// HEEL.Invalidate();
//}
#endregion
#region Drift
if (SOG.IsValid() && COG.IsValid() && HDT.IsValid() && SPD.IsValid())
{
double Dx = SOG.Val * Math.Cos(COG.Val * Math.PI / 180) - SPD.Val * Math.Cos(HDT.Val * Math.PI / 180);
double Dy = SOG.Val * Math.Sin(COG.Val * Math.PI / 180) - SPD.Val * Math.Sin(HDT.Val * Math.PI / 180);
if (LWY.IsValid())
{
double lwy;
if (AWA.Val < 0)
{
lwy = -LWY.Val;
}
else
{
lwy = LWY.Val;
}
double lm = SPD.Val * Math.Tan(lwy * Math.PI / 180);
double la = HDT.Val - 90;
double lx = lm * Math.Cos(la * Math.PI / 180);
double ly = lm * Math.Sin(la * Math.PI / 180);
double ang = Math.Atan2(ly, lx) * 180 / Math.PI;
Dx -= lx;
Dy -= ly;
}
DRIFT.Val = Math.Sqrt(Dx * Dx + Dy * Dy);
DRIFT.SetValid(now);
SET.Val = Math.Atan2(Dy, Dx) * 180 / Math.PI;
SET.SetValid(now);
}
else
{
if (DRIFT.IsValid())
{
DRIFT.Invalidate();
}
if (SET.IsValid())
{
SET.Invalidate();
}
}
#endregion
#region Performance
if (TWA.IsValid() && SPD.IsValid() && NavPolar.IsLoaded && BRG.IsValid())
{
double Angle = Math.Abs(TWD.Val - BRG.Val + 360) % 360;
if (Angle > 180)
{
Angle = 360 - Angle;
}
PolarPoint pb = NavPolar.GetBeatTargeInterpolated(TWS.Val);
PolarPoint pr = NavPolar.GetRunTargetInterpolated(TWS.Val);
if (Angle <= (pb.TWA + 20)) // Beating
{
TGTSPD.Val = pb.SPD;
TGTSPD.SetValid(now);
TGTTWA.Val = pb.TWA;
TGTTWA.SetValid(now);
PERF.Val = VMG.Val / (pb.SPD * Math.Cos(pb.TWA * Math.PI / 180));
PERF.SetValid(now);
sailingMode = SailingMode.Beating;
}
if (Angle < (pr.TWA - 20) && Angle > (pb.TWA + 20)) // Reaching
{
TGTSPD.Val = NavPolar.GetTargeInterpolated(Math.Abs(TWA.Val), TWS.Val);
TGTSPD.SetValid(now);
TGTTWA.Val = Math.Abs(TWA.Val);
TGTTWA.SetValid(now);
PERF.Val = Math.Abs(SPD.Val * Math.Cos((COG.Val - BRG.Val) * Math.PI / 180) / TGTSPD.Val);
PERF.SetValid(now);
sailingMode = SailingMode.Reaching;
}
if (Angle >= (pr.TWA - 20)) // Running
{
TGTSPD.Val = pr.SPD;
TGTSPD.SetValid(now);
TGTTWA.Val = pr.TWA;
TGTTWA.SetValid(now);
PERF.Val = VMG.Val / (pr.SPD * Math.Cos(pr.TWA * Math.PI / 180));
PERF.SetValid(now);
sailingMode = SailingMode.Running;
}
}
else
{
if (TGTSPD.IsValid())
{
TGTSPD.Invalidate();
}
if (TGTTWA.IsValid())
{
TGTTWA.Invalidate();
}
if (PERF.IsValid())
{
PERF.Invalidate();
}
}
#endregion
#region Line
if (p1_set && p2_set && LAT.IsValid() && HDT.IsValid())
{
double p3_lat = LAT.Val, p3_lon = LON.Val;
if (Properties.Settings.Default.GPSoffsetToBow != 0)
{
CalcPosition(LAT.Val, LON.Val, Properties.Settings.Default.GPSoffsetToBow, HDT.Val, ref p3_lat, ref p3_lon);
}
double brg32 = CalcBearing(p3_lat, p3_lon, p2_lat, p2_lon);
double dst32 = CalcDistance(p3_lat, p3_lon, p2_lat, p2_lon);
LINEDST.Val = dst32 * Math.Sin((linebrg - brg32) * Math.PI / 180);
LINEDST.SetValid(now);
}
else
{
if (LINEDST.IsValid())
{
LINEDST.Invalidate();
}
}
#endregion
#region Route nav
if (ActiveMark != null && DST.IsValid() && !ManOverBoard)
{
if (DST.Val <= Properties.Settings.Default.WptProximity && ActiveMark != MOB)
{
(new SoundPlayer(@".\Sounds\BELL7.WAV")).PlaySync();
if (ActiveLeg != null)
{
if (ActiveLeg.NextLeg != null)
{
ActiveLeg = ActiveLeg.NextLeg;
ActiveMark = ActiveLeg.ToMark;
}
else
{
ActiveMark = null;
ActiveLeg = null;
ActiveRoute = null;
}
}
else
{
ActiveMark = null;
}
}
}
if (ActiveRoute != null)
{
if (ActiveLeg.NextLeg != null && TWD.IsValid())
{
NTWA.Val = TWD.Val - ActiveLeg.NextLeg.Bearing;
NTWA.SetValid(now);
}
else
{
NTWA.Invalidate();
}
}
#endregion
#region Laylines
insideCourse = false; // Need to determine later
if (DRIFT.IsValid() && PERF.IsValid() && TWD.IsValid())
{
double ttwa = TGTTWA.Val;
double tgtlwy = 0;
if (LWY.IsValid())
{
double awx = TWS.Val * Math.Cos(ttwa * Math.PI / 180) + TGTSPD.Val;
double awy = TWS.Val * Math.Sin(ttwa * Math.PI / 180);
double tgtawa = Math.Atan2(awy, awx) * 180 / Math.PI;
double tgtaws = Math.Sqrt(awx * awx + awy * awy);
tgtlwy = LWay.Get(tgtawa, tgtaws, TGTSPD.Val);
}
ttwa += tgtlwy;
if (ttwa > 180)
{
ttwa = 180;
}
double relset = SET.Val - TWD.Val;
double dxs = TGTSPD.Val * Math.Cos(ttwa * Math.PI / 180) + DRIFT.Val * Math.Cos(relset * Math.PI / 180);
double dys = TGTSPD.Val * Math.Sin(ttwa * Math.PI / 180) + DRIFT.Val * Math.Sin(relset * Math.PI / 180);
TGTCOGp.Val = Math.Atan2(dys, dxs) * 180 / Math.PI + TWD.Val;
TGTCOGp.SetValid(now);
TGTSOGp.Val = Math.Sqrt(dxs * dxs + dys * dys);
TGTSOGp.SetValid(now);
double dxp = TGTSPD.Val * Math.Cos(-ttwa * Math.PI / 180) + DRIFT.Val * Math.Cos(relset * Math.PI / 180);
double dyp = TGTSPD.Val * Math.Sin(-ttwa * Math.PI / 180) + DRIFT.Val * Math.Sin(relset * Math.PI / 180);
TGTCOGs.Val = Math.Atan2(dyp, dxp) * 180 / Math.PI + TWD.Val;
TGTCOGs.SetValid(now);
TGTSOGs.Val = Math.Sqrt(dxp * dxp + dyp * dyp);
TGTSOGs.SetValid(now);
// Determine if sailing inside course +/- 0 degrees
double a1 = (BRG.Val - TGTCOGs.Val - 0 + 360) % 360;
double a2 = (TGTCOGp.Val - 0 - TGTCOGs.Val + 360) % 360;
switch (sailingMode)
{
case SailingMode.Beating:
if (a1 < a2)
{
insideCourse = true;
}
break;
case SailingMode.Running:
if (a2 < a1)
{
insideCourse = true;
}
break;
}
// Calculate Layline hit points
if (ActiveMark != null)
{
double alpha = (TGTCOGp.Val - BRG.Val + 360) % 360;
double beta = (BRG.Val - TGTCOGs.Val + 360) % 360;
double dist_s, dist_p;
if (alpha == 0)
{
dist_p = DST.Val;
dist_s = 0;
}
else
{
if (beta == 0)
{
dist_s = DST.Val;
dist_p = 0;
}
else
{
dist_p = DST.Val * Math.Sin(beta * Math.PI / 180) /
(Math.Sin(alpha * Math.PI / 180) * Math.Cos(beta * Math.PI / 180) +
Math.Cos(alpha * Math.PI / 180) * Math.Sin(beta * Math.PI / 180));
dist_s = DST.Val * Math.Sin(alpha * Math.PI / 180) /
(Math.Sin(alpha * Math.PI / 180) * Math.Cos(beta * Math.PI / 180) +
Math.Cos(alpha * Math.PI / 180) * Math.Sin(beta * Math.PI / 180));
}
}
DSTLYLp.Val = dist_p * 1852;
DSTLYLp.SetValid(now);
DSTLYLs.Val = dist_s * 1852;
DSTLYLs.SetValid(now);
double xx = DSTLYLp.Val / TGTSOGp.Val * 3600 / 1852;
if (xx > TimeSpan.MaxValue.TotalHours)
{
xx = TimeSpan.MaxValue.TotalHours - 1;
}
if (xx < TimeSpan.MinValue.TotalHours)
{
xx = TimeSpan.MinValue.TotalHours + 1;
}
TTGLYLp.Val = TimeSpan.FromSeconds(xx);
TTGLYLp.SetValid(now);
xx = DSTLYLs.Val / TGTSOGs.Val * 3600 / 1852;
if (xx > TimeSpan.MaxValue.TotalHours)
{
xx = TimeSpan.MaxValue.TotalHours - 1;
}
if (xx < TimeSpan.MinValue.TotalHours)
{
xx = TimeSpan.MinValue.TotalHours + 1;
}
TTGLYLs.Val = TimeSpan.FromSeconds(xx);
TTGLYLs.SetValid(now);
}
}
else
{
if (TGTCOGp.IsValid())
{
TGTCOGp.Invalidate();
}
if (TGTSOGp.IsValid())
{
TGTSOGp.Invalidate();
}
if (TGTCOGs.IsValid())
{
TGTCOGs.Invalidate();
}
if (TGTSOGs.IsValid())
{
TGTSOGs.Invalidate();
}
if (DSTLYLp.IsValid())
{
DSTLYLp.Invalidate();
}
if (DSTLYLs.IsValid())
{
DSTLYLs.Invalidate();
}
}
#endregion
if (replayLog == true)
{
if (deltaLog == TimeSpan.Zero)
{
//deltaLog = now - new DateTime(2020, 03, 15);
deltaLog = now - DateTime.Now;
}
now = now - deltaLog;
}
PushToLogDB(now);
}